By Topic

Product-of-exponential (POE) model for kinematic calibration of robots with joint compliance

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Tao, P.Y. ; Mechatron. Group, Agency for Sci., Technol. & Res., Singapore, Singapore ; Yang, G. ; Sun, Y.C. ; Tomizuka, M.
more authors

In this paper, a robot calibration method is proposed where the effects of joint compliance is taken into account when formulating the model. The calibration process identifies the parameters describing the relative poses of the local frames attached to the links of the robot and the parameters determining joint deflections such as joint stiffness, the mass and center of gravity of each link. A kinematic model of the robot which considers the effects of joint compliance is first formulated using the product-of-exponentials approach. Subsequently, the calibration process is described where the parameters within the robot model are updated based on measurement data. Finally, a comprehensive simulation study is conducted to validate the assumptions made during problem formulation and to verify the effectiveness of the proposed approach.

Published in:

Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on

Date of Conference:

11-14 July 2012